version: 66.08
glider: 502
mission: 3
dive: 549
start: 1 7 111 18 5 16
data:
$ID,502
$MISSION,3
$DIVE,549
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30831.908
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,070111,175146,-7628.516,17712.289,14,6.1,33,122.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-63.6
$GPS2,070111,180450,-7628.441,17712.635,15,1.9,15,121.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,137.0,187068,-17.5,-10.000
$D_GRID,375
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,165,0.00,0.00,-144.77,0.000,2,0.000,0.000,377,2675,3325,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.2,-1.5,21,193,8.98,2.38,-6.22,0.000,4,0.190,0.061,2808,1241,3562,0,0,0,0,0,0
$GC,388,-0.76,-146.0,38.6,-14.3,60,396,0.00,2.33,0.00,0.000,6,0.000,0.054,2799,2638,3565,0,0,0,0,0,0
$GC,528,-0.76,-146.0,60.9,-16.0,85,535,0.00,1.85,0.00,0.000,4,0.000,0.059,2790,3760,3565,0,0,0,0,0,0
$GC,566,-0.76,-146.0,67.5,-17.7,91,574,0.00,1.77,0.00,0.000,6,0.000,0.040,2791,2624,3565,0,0,0,0,0,0
$GC,705,-0.76,-146.0,90.7,-16.2,116,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2623,3565,0,0,0,0,0,0
$GC,850,-0.76,-146.0,114.6,-17.0,134,854,0.00,1.88,0.00,0.000,4,0.000,0.058,2783,3769,3566,0,0,0,0,0,0
$GC,911,-0.76,-146.0,126.2,-17.9,139,921,0.10,1.75,0.00,0.000,6,0.135,0.040,2815,2669,3566,0,0,0,0,0,0
$GC,1049,-0.76,-146.0,146.2,-14.8,152,1053,0.00,1.80,0.00,0.000,4,0.000,0.058,2808,3773,3566,0,0,0,0,0,0
$GC,1075,-0.76,-146.0,151.2,-16.0,154,1084,0.00,1.75,0.00,0.000,6,0.000,0.040,2808,2674,3566,0,0,0,0,0,0
$GC,1211,-0.76,-146.0,171.6,-15.8,167,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2673,3566,0,0,0,0,0,0
$GC,1339,-0.76,-146.0,190.8,-15.0,179,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2673,3566,0,0,0,0,0,0
$GC,1465,-0.76,-146.0,210.0,-15.3,191,1469,0.00,1.77,0.00,0.000,4,0.000,0.060,2800,3761,3566,0,0,0,0,0,0
$GC,1514,-0.76,-146.0,218.3,-16.2,195,1523,0.00,1.73,0.00,0.000,6,0.000,0.039,2800,2677,3566,0,0,0,0,0,0
$GC,1650,-0.76,-146.0,238.6,-15.1,208,1654,0.00,1.77,0.00,0.000,4,0.000,0.060,2791,3766,3566,0,0,0,0,0,0
$GC,1676,-0.76,-146.0,242.7,-16.3,210,1679,0.00,1.67,0.00,0.000,6,0.000,0.040,2791,2685,3565,0,0,0,0,0,0
$GC,1816,-0.76,-146.0,265.1,-15.3,223,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2684,3566,0,0,0,0,0,0
$GC,2007,-0.76,-146.0,294.9,-15.8,241,2011,0.00,1.77,0.00,0.000,4,0.000,0.059,2783,3769,3566,0,0,0,0,0,0
$GC,2057,-0.76,-146.0,303.5,-17.1,245,2064,0.08,1.70,0.00,0.000,6,0.137,0.040,2809,2701,3566,0,0,0,0,0,0
$GC,2256,-0.76,-146.0,331.4,-14.2,264,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2701,3566,0,0,0,0,0,0
$GC,2446,-0.76,-146.0,358.7,-14.6,282,2450,0.00,1.80,0.00,0.000,4,0.000,0.060,2802,3766,3566,0,0,0,0,0,0
$GC,2469,-0.76,-146.0,362.1,-14.3,284,2473,0.00,1.65,0.00,0.000,6,0.000,0.040,2802,2703,3565,0,0,0,0,0,0
$STATE,2564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2565,begin apogee
$GC,2571,-0.27,0.0,376.5,14.6,293,2709,0.52,0.00,131.18,1.031,4,0.124,0.000,2971,2487,2960,0,0,0,0,0,0
$STATE,2710,end apogee,CONTROL_FINISHED_OK
$STATE,2710,begin climb
$GC,2712,0.76,146.0,383.7,0.0,305,2883,1.10,2.53,151.62,0.942,4,0.080,0.047,3307,1106,2363,0,0,0,0,1,0
$GC,2977,0.76,146.0,363.5,10.4,328,2981,0.00,2.55,0.00,0.000,6,0.000,0.049,3307,2498,2353,0,0,0,0,0,0
$GC,3175,0.76,146.0,340.1,11.3,346,3179,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1099,2349,0,0,0,0,0,0
$GC,3321,0.76,146.0,323.3,11.5,358,3328,0.00,2.35,0.00,0.000,6,0.000,0.050,3315,2514,2347,0,0,0,0,0,0
$GC,3519,0.76,146.0,299.4,12.2,377,3523,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3768,2346,0,0,0,0,0,0
$GC,3602,0.76,146.0,287.3,15.1,384,3610,0.00,1.98,0.00,0.000,6,0.000,0.038,3324,2518,2345,0,0,0,0,0,0
$GC,3802,0.76,146.0,261.9,13.0,403,3805,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3766,2344,0,0,0,0,0,0
$GC,3885,0.76,146.0,249.3,15.5,410,3894,0.00,1.95,0.00,0.000,6,0.000,0.038,3334,2531,2344,0,0,0,0,0,0
$GC,4021,0.76,146.0,231.1,13.3,423,4025,0.00,2.00,0.00,0.000,4,0.000,0.056,3334,3768,2344,0,0,0,0,0,0
$GC,4057,0.76,146.0,225.8,15.4,426,4062,0.12,1.90,0.00,0.000,6,0.162,0.038,3310,2548,2343,0,0,0,0,0,0
$GC,4200,0.76,146.0,208.0,11.9,439,4204,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3773,2343,0,0,0,0,0,0
$GC,4238,0.76,146.0,202.4,13.3,442,4246,0.00,1.95,0.00,0.000,6,0.000,0.040,3318,2544,2343,0,0,0,0,0,0
$GC,4376,0.76,146.0,185.7,12.4,455,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2544,2343,0,0,0,0,0,0
$GC,4512,0.76,146.0,168.8,12.2,468,4515,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3772,2343,0,0,0,0,0,0
$GC,4571,0.76,146.0,160.2,14.4,473,4579,0.00,1.95,0.00,0.000,6,0.000,0.040,3327,2550,2342,0,0,0,0,0,0
$GC,4707,0.76,146.0,143.5,12.3,486,4711,0.00,1.98,0.00,0.000,4,0.000,0.057,3327,3765,2342,0,0,0,0,0,0
$GC,4745,0.76,146.0,137.9,14.4,489,4754,0.00,1.90,0.00,0.000,6,0.000,0.037,3337,2562,2342,0,0,0,0,0,0
$GC,4882,0.76,146.0,120.2,13.2,502,4885,0.00,1.95,0.00,0.000,4,0.000,0.057,3336,3764,2342,0,0,0,0,0,0
$GC,4917,0.76,146.0,115.2,14.2,505,4922,0.12,1.85,0.00,0.000,6,0.160,0.038,3312,2566,2341,0,0,0,0,0,0
$GC,5051,0.76,146.0,98.9,11.3,518,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2565,2342,0,0,0,0,0,0
$GC,5191,0.76,146.0,83.7,11.2,543,5198,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3773,2341,0,0,0,0,0,0
$GC,5243,0.76,146.0,76.8,13.1,552,5251,0.00,1.90,0.00,0.000,6,0.000,0.040,3320,2578,2341,0,0,0,0,0,0
$GC,5384,0.76,146.0,60.6,11.4,577,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2577,2341,0,0,0,0,0,0
$GC,5521,0.76,146.0,44.9,10.9,602,5529,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3763,2340,0,0,0,0,0,0
$GC,5567,0.76,146.0,39.0,12.8,610,5576,0.00,1.88,0.00,0.000,6,0.000,0.039,3329,2584,2340,0,0,0,0,0,0
$GC,5708,0.76,146.0,22.0,12.2,635,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2583,2340,0,0,0,0,0,0
$FREEZE,8.52,0.094,-1.893,2,1,0
$FREEZE,7.80,0.103,-1.892,2,1,0
$FREEZE,7.02,0.105,-1.891,2,1,0
$FREEZE,6.34,0.100,-1.891,2,1,0
$FREEZE,5.52,0.103,-1.890,2,1,0
$FREEZE,5.02,0.106,-1.890,2,1,0
$FREEZE,4.06,0.122,-1.889,2,1,0
$GC,5852,0.76,146.0,4.1,12.0,660,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2583,2340,0,0,0,0,0,0
$FREEZE,1.93,0.109,-1.888,2,1,0
$STATE,5867,end climb,SURFACE_DEPTH_REACHED
$STATE,5867,begin surface coast
$FREEZE,1.22,0.124,-1.887,2,1,0
$FREEZE,1.20,-0.087,-1.866,2,1,0
$FREEZE,1.26,-0.097,-0.865,2,1,0
$FREEZE,1.28,0.090,-1.889,2,1,0
$FINISH,1.3,1.027620
$STATE,5891,end surface coast,CONTROL_FINISHED_OK
$STATE,5892,begin surface
$SM_CCo,5909,73.57,0.099,0,0,1736,300.24
$SM_GC,2.12,0.00,0.00,73.57,0.000,0.000,0.099,413,2665,1736,-8.29,0.42,300.24
$IRIDIUM_FIX,-7545.40,17714.23,070111,171708
$TT8_MAMPS,0.028462
$HUMID,54.09
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,351.2,39.5
$24V_AH,20.2,79.641
$10V_AH,9.6,54.961
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.600,74.775,282.800,73.575,0.000,59.661,78.466,393.556,2.000,0.000,16.546,1675.314,2109.299,529.117,2173.947,285.087,0.000,1244.143,0.000,1120.138,0.000,10.589,0.000
$DEVICE_MAMPS,190.485,100.215,1031.220,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.108,864.776,931.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,47047,666
$CAP_FILE_SIZE,101023,0
$CFSIZE,260165632,222744576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.093, 35.7,1
$GPS,070111,194606,-7628.354,17710.271,29,1.6,29,122.0